[Multibody] Add check of data with respect to model

Call simply model.check(data)

bindings/python/multibody/model.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -24,6 +24,7 @@
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/algorithm/check.hpp"
 #include "pinocchio/parsers/sample-models.hpp"
 #include "pinocchio/bindings/python/utils/eigen_container.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
@@ -147,6 +148,8 @@ namespace se3
           .staticmethod("BuildEmptyModel")
           .def("BuildHumanoidSimple",&ModelPythonVisitor::maker_humanoidSimple)
           .staticmethod("BuildHumanoidSimple")
+        
+        .def("check",(bool (Model::*)(const Data &) const) &Model::check,bp::arg("data"),"Check consistency of data wrt model.")
           ;
       }
 

src/algorithm/check.hxx

 //
-// Copyright (c) 2016 CNRS
+// Copyright (c) 2016-2017 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -132,6 +132,8 @@ namespace se3
 #undef CHECK_DATA
     return true;
   }
+  
+  inline bool Model::check(const Data & data) const { return checkData(*this,data); }
 
 
 } // namespace se3 

src/multibody/model.hpp

@@ -336,6 +336,13 @@ namespace se3
 
     /// Run check(fusion::list) with DEFAULT_CHECKERS as argument.
     inline bool check() const;
+    
+    /// Run checkData on data and current model.
+    ///
+    /// \param[in] data to be checked wrt *this.
+    ///
+    /// \return true if the data is valid, false otherwise.
+    inline bool check(const Data & data) const;
 
   protected:
     

unittest/algo-check.cpp

+//
+// Copyright (c) 2016-2017 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
 
 #include <boost/fusion/container/generation/make_list.hpp>
 #include <pinocchio/multibody/model.hpp>
@@ -39,6 +55,8 @@ BOOST_AUTO_TEST_CASE ( test_check )
 
   se3::Data data(model);
   BOOST_CHECK(checkData(model,data));
+  BOOST_CHECK(model.check(data));
+  
 }
 
 BOOST_AUTO_TEST_SUITE_END ()